Omron CJ1W-NC271 - 12-2009, Operation Manual

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MECHATROLINK Communications Control
Section 6-3
Note (1) It is assumed that the MECHATROLINK communications cable is con-
nected.
(2) For example, when A.81 (backup error) occurs. MECHATROLINK com-
munications may not be possible, depending on the individual Servo
Drive specifications and on the type of alarm that cannot be reset.
For axes 1 and 3, MECHATROLINK communications can be started and all
axis operations can be executed if there is no Servo Drive error. For axis 2
(with no control power supply) and axis 5 (disconnected), MECHATROLINK
communications cannot be started, and operations and monitoring are not
possible. If MECHATROLINK communications can be started for axis 4 (alarm
that cannot be reset), depending on the handling of the Servo Drive error, the
axis can be monitored and parameters can be transferred but axis operations
cannot be executed. In this example, the axes for which MECHATROLINK
communications can actually be started are 1, 3, and 4. This does not match
the axes registered in the scan list (i.e., axes 1 to 5), so an MLK initialization
error (unit error code 0020 hex) occurs.
6-3-3 MECHATROLINK Communications Errors
The PCU monitors and detects errors if they occur at the start of or during
MECHATROLINK communications. Detected errors are largely categorized
as PCU common errors that stop MECHATROLINK communications and
operation of all axes, and axis errors that stop individual axes. Moreover, they
are classified into three types of error: Errors at Communications Startup,
Errors Detected by PCU during Communications, and Errors Detected in
MECHATROLINK Slave Stations Connected to PCU during Communications.
Errors that Stop MECHATROLINK Communications (Unit Common Errors)
Errors at Communications
Startup The following errors in MECHATROLINK (MLK) communications are moni-
tored by the PCU when CONNECT is executed.
Errors in MECHATROLINK slave station devices cannot be detected by the
PCU before a connection is established. The PCU will execute ALARM
RESET for the devices communicating with MECHATROLINK when a con-
nection is established.
MLK Device Initialization Error (Unit Error Code: 0030 Hex)
This error occurs if initialization of MECHATROLINK communications fails
when CONNECT is executed, and causes connection processing to stop.
When this error occurs, confirm that the PCU’s common parameters and
MECHATROLINK communications settings are set correctly, restart the PCU,
and then execute CONNECT again. If the error occurs again, it is a result of
an error in the MECHATROLINK communications section of the PCU and
requires replacement of the PCU.
Servo parameter trans-
fer Possible Not possible Possible Possible Not possible
Axis operating com-
mands Possible Not possible Possible Not possible Not possible
Axis No. No. 1 No. 2 No. 3 No. 4 No. 5